cmake_minimum_required(VERSION 2.8.3)
project(wrzf_pkg)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  message_generation  
  roscpp
  geometry_msgs
  sensor_msgs
  mavros
  nav_msgs
  std_msgs
  std_srvs
  tf2_ros
  tf2_eigen
  mavros_msgs
  cv_bridge
  image_transport
  fsd_common_msgs
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
find_package(OpenCV)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## Generate messages in the 'msg' folder
add_message_files(
  DIRECTORY msg
  FILES
  ControlCommand.msg
  TrajectoryPoint.msg
  Trajectory.msg
  AttitudeReference.msg
  DroneState.msg
  Topic_for_log.msg
  ControlOutput.msg
  MissionState.msg
  img_pro_info.msg
  # ALL_UAVs_LLA.msg
  UAVPositionDetectionInfo.msg
  #RadarAvoidance.msg
)
## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  geometry_msgs 
  sensor_msgs
  std_msgs
  geographic_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
 INCLUDE_DIRS include
#  LIBRARIES wrzf_pkg
 CATKIN_DEPENDS message_runtime
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include ${catkin_INCLUDE_DIRS}
  include
  ${catkin_INCLUDE_DIRS}
)

include_directories(${OpenCV_INCLUDE_DIRS})

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/wrzf_pkg.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/wrzf_pkg_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )



###############################
##      声明可执行cpp文件     ##
###############################

add_library(CubicSplinePlanner src/lib/CubicSplinePlanner.cpp)

##px4_pos_estimator.cpp
add_executable(px4_pos_estimator src/px4_pos_estimator.cpp)
add_dependencies(px4_pos_estimator wrzf_pkg_gencpp)
target_link_libraries(px4_pos_estimator ${catkin_LIBRARIES})
# target_link_libraries(px4_pos_estimator OptiTrackFeedbackRigidBody)

##px4_pos_controller.cpp
# add_executable(px4_pos_controller src/px4_pos_controller.cpp)
# add_dependencies(px4_pos_controller wrzf_pkg_gencpp) 
# target_link_libraries(px4_pos_controller ${catkin_LIBRARIES})

##position_controller.cpp
add_executable(position_controller src/position_controller.cpp)
add_dependencies(position_controller wrzf_pkg_gencpp)
target_link_libraries(position_controller ${catkin_LIBRARIES})
target_link_libraries(position_controller CubicSplinePlanner)
##one_drone_mission_planning.cpp
add_executable(one_drone_mission_planning src/one_drone_mission_planning.cpp)
add_dependencies(one_drone_mission_planning wrzf_pkg_gencpp)
target_link_libraries(one_drone_mission_planning ${catkin_LIBRARIES})
target_link_libraries(one_drone_mission_planning CubicSplinePlanner)
##opencv_testcam.cpp
add_executable(opencv_testcam src/opencv_testcam.cpp)
target_link_libraries(opencv_testcam ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
##opencv_testcam_frame.cpp
add_executable(opencv_testcam_frame src/opencv_testcam_frame.cpp)
target_link_libraries(opencv_testcam_frame ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

##Utilities/move.cpp
add_executable(move src/Utilities/move.cpp)
add_dependencies(move wrzf_pkg_gencpp)
target_link_libraries(move ${catkin_LIBRARIES})
##Utilities/set_mode.cpp
add_executable(set_mode src/Utilities/set_mode.cpp)
add_dependencies(set_mode wrzf_pkg_gencpp)
target_link_libraries(set_mode ${catkin_LIBRARIES})
##Utilities/takeoff_flag.cpp
add_executable(takeoff_flag src/Utilities/takeoff_flag.cpp)
add_dependencies(takeoff_flag wrzf_pkg_gencpp)
target_link_libraries(takeoff_flag ${catkin_LIBRARIES})


## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
)

## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_wrzf_pkg.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
